i used to start at 6.30 with the baby in the bath. baby out of the bath and being dried on a mat on the floor of the bathroom and the next two in the bath together (2 years between eldest, 18 mos between 2&3).
baby dry and dressed and put into bouncy chair in bathroom. jiggled occasionally/ cloth books, toys as got a bit older. toddler out and dried/ dressed in bathroom. pre-schooler/ oldest toddler out - everyone into living room or bedroom (with bouncy chair) and dry/ dress oldest in there (whilst trying to persuade toddler not to eat the dog/ baby. usually sent toddler for story book.
get milk x 3.
feed baby and read story whilst others drinking milk and listening to story.
back to bathroom, teeth (taking bouncy chair to perch baby in).
toddler and pre-schooler in bed. kiss night night.
baby to bed. (nb this is left until last as it could take anywhere from 1 minute to um, 300.)
i have to say, now that they are 11,9 and 8, they pretty much do it all themselves. the girls love to spend hours in the bath (still together) and make a real meal out of washing their hair etc. and ds1 would stay in the bath all night if i let him. they still have 'milk', then 'teeth' as the signal that the day is at an end though.
i think whatever your routine, the key is sticking to it. when mine were tots they would gleefully remind grandma 'no, grandma, now we have our milk' when she got over-excited and proferred a toothbrush. she always used to say we didn't need to tell her the routine as the kids would tell her if she got it 'wrong'...